Details
| Original language | English |
|---|---|
| Article number | 8765796 |
| Pages (from-to) | 2171-2181 |
| Number of pages | 11 |
| Journal | IEEE/ASME Transactions on Mechatronics |
| Volume | 24 |
| Issue number | 5 |
| Publication status | Published - Oct 2019 |
Abstract
This paper studies the design and the behavior of bistable electromagnetic tilting actuators (ETA). A serial chain of these actuators can be utilized as a medical or industrial endoscope. With the concept presented here, it is possible to unite flexibility and high stiffness in one shaft. An ETA is able to switch between defined positions through a tilting movement. The mechanical movement is driven by an electromagnetic torque, which is powered by a magneto motive force in the coils of the ETA. The tilting torque is mainly influenced by the design of the magnetic path inside the ETA cores. The ETA chain is operated using a 'Follow the Leader' control. Therefore, very fast calculation methods are necessary to evaluate power-on-durations and subsequently influence the tilting process itself. In this paper, the physical effects while operating are analyzed and the necessary calculation methods are elaborated. Since very high currents are applied for tilting, the electric network calculation includes a thermal model to consider the thermally driven asymmetric increase of resistivity as well. The analysis of the operational characteristic of the ETA is the basis of the time-efficient combined calculation method. Using this combined calculation, a complete tilting process of one or more ETA can be calculated in advance considering the chain configuration and external forces. Using this method, optimized power-on-durations can be evaluated, for which the tilting process itself is successful and no unintended impulsive forces are applied to the chain. The validation with measurements has proven the accuracy of the initial model (without parameter fitting) to a deviation of 15% at most with a very small calculation time effort within seconds.
Keywords
- electromagnetic tilting actuator (ETA), fast calculation model, hybrid analysis, Three-dimensional (3-D) finite-element analysis
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- Computer Science Applications
- Engineering(all)
- Electrical and Electronic Engineering
Cite this
- Standard
- Harvard
- Apa
- Vancouver
- BibTeX
- RIS
In: IEEE/ASME Transactions on Mechatronics, Vol. 24, No. 5, 8765796, 10.2019, p. 2171-2181.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Design and Analysis of Electromagnetic Tilting Actuators
AU - Dörbaum, Michael
AU - Tappe, Svenja
AU - Ortmaier, Tobias
AU - Ponick, Bernd
PY - 2019/10
Y1 - 2019/10
N2 - This paper studies the design and the behavior of bistable electromagnetic tilting actuators (ETA). A serial chain of these actuators can be utilized as a medical or industrial endoscope. With the concept presented here, it is possible to unite flexibility and high stiffness in one shaft. An ETA is able to switch between defined positions through a tilting movement. The mechanical movement is driven by an electromagnetic torque, which is powered by a magneto motive force in the coils of the ETA. The tilting torque is mainly influenced by the design of the magnetic path inside the ETA cores. The ETA chain is operated using a 'Follow the Leader' control. Therefore, very fast calculation methods are necessary to evaluate power-on-durations and subsequently influence the tilting process itself. In this paper, the physical effects while operating are analyzed and the necessary calculation methods are elaborated. Since very high currents are applied for tilting, the electric network calculation includes a thermal model to consider the thermally driven asymmetric increase of resistivity as well. The analysis of the operational characteristic of the ETA is the basis of the time-efficient combined calculation method. Using this combined calculation, a complete tilting process of one or more ETA can be calculated in advance considering the chain configuration and external forces. Using this method, optimized power-on-durations can be evaluated, for which the tilting process itself is successful and no unintended impulsive forces are applied to the chain. The validation with measurements has proven the accuracy of the initial model (without parameter fitting) to a deviation of 15% at most with a very small calculation time effort within seconds.
AB - This paper studies the design and the behavior of bistable electromagnetic tilting actuators (ETA). A serial chain of these actuators can be utilized as a medical or industrial endoscope. With the concept presented here, it is possible to unite flexibility and high stiffness in one shaft. An ETA is able to switch between defined positions through a tilting movement. The mechanical movement is driven by an electromagnetic torque, which is powered by a magneto motive force in the coils of the ETA. The tilting torque is mainly influenced by the design of the magnetic path inside the ETA cores. The ETA chain is operated using a 'Follow the Leader' control. Therefore, very fast calculation methods are necessary to evaluate power-on-durations and subsequently influence the tilting process itself. In this paper, the physical effects while operating are analyzed and the necessary calculation methods are elaborated. Since very high currents are applied for tilting, the electric network calculation includes a thermal model to consider the thermally driven asymmetric increase of resistivity as well. The analysis of the operational characteristic of the ETA is the basis of the time-efficient combined calculation method. Using this combined calculation, a complete tilting process of one or more ETA can be calculated in advance considering the chain configuration and external forces. Using this method, optimized power-on-durations can be evaluated, for which the tilting process itself is successful and no unintended impulsive forces are applied to the chain. The validation with measurements has proven the accuracy of the initial model (without parameter fitting) to a deviation of 15% at most with a very small calculation time effort within seconds.
KW - electromagnetic tilting actuator (ETA)
KW - fast calculation model
KW - hybrid analysis
KW - Three-dimensional (3-D) finite-element analysis
UR - http://www.scopus.com/inward/record.url?scp=85074277779&partnerID=8YFLogxK
U2 - 10.1109/tmech.2019.2929735
DO - 10.1109/tmech.2019.2929735
M3 - Article
AN - SCOPUS:85074277779
VL - 24
SP - 2171
EP - 2181
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
SN - 1083-4435
IS - 5
M1 - 8765796
ER -